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CN-121985921-A - System for calibrating and authenticating an end effector

CN121985921ACN 121985921 ACN121985921 ACN 121985921ACN-121985921-A

Abstract

A surgical system according to at least one embodiment of the present disclosure includes a robotic arm including an adapter on a distal end thereof, a navigation system for tracking a pose of the robotic arm, and an end effector including an interface connectable to the adapter of the robotic arm to mechanically couple the end effector and the robotic arm, a processor, and a memory having data stored thereon that, when processed by the processor, enables the processor to determine that the interface of the end effector is connected to the adapter of the robotic arm, and transmit information stored in the memory and associated with the end effector to the navigation system, wherein the information transmitted to the navigation system supports the navigation system to track the pose of the robotic arm.

Inventors

  • I. Asher
  • R. Visbrodt
  • H. H. Shumlevich

Assignees

  • 马佐尔机器人有限公司

Dates

Publication Date
20260505
Application Date
20241010
Priority Date
20231012

Claims (20)

  1. 1. A surgical system (100), comprising: A robotic arm (116) including an adapter (136) on a distal end thereof; a navigation system (118) for tracking the pose of the robotic arm (116), and An end effector (140), the end effector comprising: An interface connectable to an adapter (136) of the robotic arm (116) to mechanically couple the end effector (140) and the robotic arm (116); processor (104,120,148,168); and -A memory (106,122,152,172) having stored thereon data that, when processed by the processor (104,120,148,168), enables the processor (104,120,148,168): Determining an adapter (136) of the end effector (140) to which the interface of the robotic arm (116) is connected, and -Transmitting information stored in the memory (106,122,152,172) and associated with the end effector (140) to the navigation system (118), wherein the information transmitted to the navigation system (118) supports the navigation system (118) to track the pose of the robotic arm (116).
  2. 2. The surgical system of claim 1 wherein said memory (106,122,152,172) comprises an electrically erasable programmable read-only memory (EEPROM).
  3. 3. The surgical system of any of claims 1-2, wherein the information associated with the end effector (140) includes information regarding a geometry of the end effector (140).
  4. 4. A surgical system according to claim 3 wherein the information about the geometry comprises information generated by a Coordinate Measuring Machine (CMM).
  5. 5. The surgical system of any of claims 1 to 4, wherein the information associated with the end effector (140) includes information regarding a number of uses of the end effector (140).
  6. 6. The surgical system of claim 5, wherein the information regarding the number of uses of the end effector (140) is updated based on information sent from the navigation system (118) to the processor (104,120,148,168).
  7. 7. The surgical system of any of claims 5 to 6, wherein the information regarding the number of uses of the end effector (140) is updated at the end of a surgical procedure using the end effector (140).
  8. 8. The surgical system of any of claims 5 to 6, wherein the information regarding the number of uses of the end effector (140) is updated when the interface is connected to the adapter (136).
  9. 9. A system (100) comprising: Mechanical arm (116) An end effector (140), the end effector comprising: an operating portion (180) provided on a distal end of the end effector (140); An interface on a proximal end opposite the distal end, the interface being connectable to an adapter (136) of the robotic arm (116) to mechanically couple the end effector (140) and the robotic arm (116); processor (104,120,148,168); and -A memory (106,122,152,172) having stored thereon data that, when processed by the processor (104,120,148,168), enables the processor (104,120,148,168): determining that the end effector (140) is connected to the robotic arm (140), and Information stored on the memory (106,122,152,172) and associated with the end effector (140) is transmitted to a robot controller (128) that controls the robotic arm (116) when the end effector (140) is connected to the robotic arm (116).
  10. 10. The system as recited in claim 9, wherein the information associated with the end effector (140) when processed by the robotic controller (128) indicates that the end effector (140) is an active end effector.
  11. 11. The system of any of claims 9 to 10, wherein the operative portion (180) of the active end effector is configured to resect anatomical tissue.
  12. 12. The system as recited in claim 9, wherein the information associated with the end effector (140) when processed by the robotic controller (128) indicates that the end effector (140) is a passive end effector.
  13. 13. The system as recited in claim 12, wherein an operative portion (180) of the passive end effector includes a tool guide.
  14. 14. The system of any of claims 9 to 13, wherein the information associated with the end effector (140) includes information regarding a number of uses of the end effector (140).
  15. 15. The system of claim 14, wherein the number of uses of the end effector (140) is updated at the end of a surgical procedure using the end effector (140).
  16. 16. The system of any of claims 14 to 15, wherein the processor (104,120,148,168) transmits a warning to the robot controller (128) when the updated number of uses of the end effector (140) exceeds a threshold.
  17. 17. An apparatus (140), comprising: An operating end (180); Processor (168); and -A programmable memory (172) having stored thereon data that, when processed by the processor (168), enables the processor (168) to: determining that the device (140) has been coupled to the robotic arm (140), and -Transmitting information associated with the device (140) to a navigation system (118) of the robotic arm (116).
  18. 18. The device of claim 17, wherein the information associated with the device (140) includes calibration information.
  19. 19. The apparatus of claim 18 wherein the calibration information comprises information generated by a Coordinate Measuring Machine (CMM).
  20. 20. The device of any of claims 17 to 19, wherein the information associated with the device (140) comprises authentication information, and wherein the authentication information, when processed by a robot controller (128), enables the robot controller (128) to control an operating end (180) of the device (140).

Description

System for calibrating and authenticating an end effector Background The present disclosure relates generally to surgery and surgical procedures, and more particularly to end effector calibration and authentication. The surgical robot may assist a surgeon or other medical provider in performing a surgical procedure, or may autonomously complete one or more surgical procedures. The articulating member providing a controllable link allows the surgical robot to reach areas of the patient's anatomy during various medical procedures. Disclosure of Invention Systems and methods according to the present disclosure enable automatic calibration of surgical components without further measurement or verification. An end effector part may be measured using a high precision measurement system, such as a Coordinate Measuring Machine (CMM), and calibration information associated with the measurement may be stored in erasable and programmable memory unique to the end effector. The calibration information may then be automatically sent to the robot controller once the end effector is connected to the robot, allowing the robot controller to perform registration of the end effector with the robot. The unique erasable and programmable memory advantageously improves the yield of manufactured parts that can be used in surgery or surgical procedures, and improves the speed and accuracy of registration. Example aspects of the present disclosure include: A surgical system according to at least one embodiment of the present disclosure includes a robotic arm including an adapter on a distal end thereof, a navigation system for tracking a pose of the robotic arm, and an end effector including an interface connectable to the adapter of the robotic arm to mechanically couple the end effector and the robotic arm, a processor, and a memory having data stored thereon that, when processed by the processor, enables the processor to determine that the interface of the end effector is connected to the adapter of the robotic arm, and transmit information stored in the memory and associated with the end effector to the navigation system, wherein the information transmitted to the navigation system supports the navigation system to track the pose of the robotic arm. Any of the aspects herein, wherein the memory comprises an Electrically Erasable Programmable Read Only Memory (EEPROM). Any of the aspects herein, wherein the information associated with the end effector comprises information about a geometry of the end effector. Any of the aspects herein, wherein the information about the geometry comprises information generated by a Coordinate Measuring Machine (CMM). Any of the aspects herein, wherein the information associated with the end effector includes information regarding a number of uses of the end effector. Any of the aspects herein wherein the information regarding the number of uses of the end effector is updated based on information sent from the navigation system to the processor. Any of the aspects herein, wherein the information regarding the number of uses of the end effector is updated at the end of a surgical procedure using the end effector. Any of the aspects herein, wherein the information regarding the number of uses of the end effector is updated when the interface is connected to the adapter. A system according to at least one embodiment of the present disclosure includes a robotic arm, and an end effector including an operating portion disposed on a distal end of the end effector, an interface on a proximal end opposite the distal end, the interface being connectable to an adapter of the robotic arm to mechanically couple the end effector and the robotic arm, a processor, and a memory having data stored thereon that, when processed by the processor, enables the processor to determine that the end effector is connected to the robotic arm, and transmit information stored on the memory and associated with the end effector to a robotic controller controlling the robotic arm when the end effector is connected to the robotic arm. Any of the aspects herein, wherein the information associated with the end effector, when processed by the robotic controller, indicates that the end effector is an active end effector. Any of the aspects herein, wherein the operative portion of the active end effector is capable of resecting anatomical tissue. Any of the aspects herein, wherein the information associated with the end effector, when processed by the robotic controller, indicates that the end effector is a passive end effector. Any of the aspects herein, wherein the operative portion of the passive end effector comprises a tool guide. Any of the aspects herein, wherein the information associated with the end effector includes information regarding a number of uses of the end effector. Any of the aspects herein, wherein the number of uses of the end effector is updated at the end of a surgical procedure in which the end effector is used.